Action control device for small boat
An action control device for a small boat can include a running condition detecting device, a running environment determining device configured to determine a running environment based upon the running condition, and a steering control device configured to set a steering handle operative characteristic in response to the running environment.
Latest Yamaha Marine Kabushiki Kaisha Patents:
This application is based on and claims priority under 35 U.S.C. §119 to Japanese Patent Application No. 2005-238450, filed on Aug. 19, 2005, the entire contents of which is hereby expressly incorporated by reference herein.
BACKGROUND OF THE INVENTIONS1. Field of the Inventions
The present inventions relate to an action control device for a small boat having a propulsion unit such as, for example, an outboard motor and a stern drive.
2. Description of the Related Art
For example, Japanese Patent Document JP-B-2959044 discloses a boat having an electrically operated steering unit which is designed to provide smooth steering movement of the associated outboard motor. Japanese Patent Document JP-A-Hei 10-310074 discloses another steering device by which a force used to cause a pivotal movement of the propulsion unit of the outboard motor can be adjusted in response to running conditions, allowing the steering operation to be made with less force. Under a normal steering condition such as when a water surface is calm, it is preferable that such a power steering unit, which is operated electrically, provides a light steering force.
On the other hand, when a small boat encounters large waves, strong wind or the like, a position and/or orientation of the boat can change quickly. Consequently, the running resistance (e.g., the hydrodynamic resistance against the movement of the hull) and bilateral balance of the boat vary, which can make the riders of the boat uncomfortable. Quick steering adjustments can be used to counteract the external forces caused by the waves and wind and thus can reduce or inhibit listing (leaning) of the hull or other movements that can make the riders of the boat uncomfortable.
However, in some environments of use, such as fishing for example, the operator of the boat is normally stands near the steering wheel while operating the boat, in contrast to the position of a driver's seated position while driving a car. When such a boat rolls and bounces in rough water due to waves and/or strong wind, operators stand can become tired by continuously shifting their balance to compensate for the rolling and bouncing. Additionally, it can be difficult for an operator to quickly and accurately counteract the forces caused by the waves and wind.
In the art of land vehicles, Japanese Patent Document JP-A-2004-155282 discloses a steering unit which detects a drive condition of land vehicle such as, for example, a vehicle speed and a magnitude of acceleration and provides a drive environment in response to the detected values. Conventionally, however, no such means are available for assisting the steering operation of a boat by detecting an action of the boat.
SUMMARY OF THE INVENTIONAn aspect of at least one of the embodiments disclosed herein include the realization that a boat can be configured to detect a running condition and to respond to the detected running conditions to make the boat operate in a more comfortable manner. For example, such a boat can make operation in rough water more comfortable.
In accordance with an embodiment disclosed herein, an action control device for a boat comprising a running condition detecting means, a running environment determining means for determining a running environment based upon the running condition, and a steering control means for setting a steering handle operative characteristic in response to the running environment.
In accordance with another embodiment, an action control device for a boat comprising a steering handle configured to allow an operator of a boat to input steering commands, a running environment detection device configured to determine a running environment of a boat, and a steering control device configured to adjust a steering handle operative characteristic in response to the running environment.
These and other features and advantages of the inventions, features, aspects, and embodiments will become more apparent upon reading the following detailed description and with reference to the accompanying drawings of embodiments that exemplify the inventions disclosed herein.
The outboard motor 3 is pivotable about an axis of a swivel shaft (steering pivot shaft) 6 extending generally vertically. A steering bracket 5 can be fixed to a top end portion of the swivel shaft 6.
A steering unit 15 can be coupled with a front end portion 5a of the steering bracket 5. The steering unit 15 can be, for example, a DD (direct drive) type electric motor.
In the steering unit 15, a motor body (not shown) slides along a screw shaft (not shown) extending generally parallel to the transom board 2. The front end portion 5a of the steering bracket 5 is coupled with the motor body; and as such, the outboard motor 3 rotates about the axis of the swivel shaft 6 together with the slide movement of the motor body, described in greater detail below with reference to
With continued reference to
The steering handle control unit 13 can include a steering angle sensor 9 configured to detect an angle of the steering handle and can include a reaction force motor 11. The steering handle control unit 13 can be connected to a control unit (ECU) 12 through a signal cable 10. The ECU 12 can also be connected to the steering unit 15.
Additionally, an action detecting unit 14 can be connected to the ECU 12. The action detecting unit 14 can include an engine speed sensor and a throttle valve opening sensor both of which can be used for controlling an engine of the outboard motor 3. The action detecting unit 14 can also include a position sensor, a vibration sensor, a yaw rate sensor and a speed sensor all for sensing conditions of the boat. These sensors can be individually connected to the ECU 12.
The ECU 12 can be configured to detect an amount of the steering operation, for example, an angle of the steering handle 7, based upon a detection signal delivered from the steering angle sensor 9. The ECU 12 can also be configured to transmit a command signal to the steering unit 15 in response to the steering operation amount and additionally in response to the running conditions including the speed, acceleration or deceleration states, etc. to drive the DD motor so that the outboard motor 3 rotates about the axis of the swivel shaft 6 and thus steers the boat 1.
With reference to
During operation, when the operator steers the boat 1 by operating the steering handle 7, a steering angle sensor 9 detects an amount α of the pivotal operation of the steering handle 7. Detection information about the steering angle is input into the ECU 12. In addition, whenever the operator steers the boat 1, detection values of the engine speed sensor 14a and the throttle valve opening sensor 14b both for controlling the engine operation and detection values of the position sensor 14c, the vibration sensor 14d, the yaw rate sensor 14e and the speed sensor 14f for detecting the actions of the hull are input into the ECU 12.
The ECU 12 can be configured to compute an angle β of the pivotal movement of the outboard motor 3 corresponding to a steering angle α of the steering movement of the steering handle 7 and based upon a pivotal movement characteristic of the outboard motor 3 which can be determined in response to running conditions determined by the information about the boat 1 and about the actions thereof.
The ECU 12 can be configured to compute a magnitude of reaction force corresponding to an operational amount of the steering handle 7 in response to the running conditions and the state of the external force while computing the angle β of the pivotal movement of the outboard motor 3 and also controlling the engine operation. The ECU 12 can be configured to control a reaction force motor 11 to generate the reaction force and to provide the reaction force to the steering handle 7. For example, the ECU 12 reduces a load on the steering handle 7 (e.g., reduces the resistance to input from the operator) to make the steering feeling lighter which can improve a steering feeling in a normal running state. On the other hand, the ECU 12 can be configured to make the load of the steering handle 7 heavier to prevent the operator from suddenly and excessively rotating the steering handle 7 in rough weather.
As thus discussed above, the angle β of the pivotal movement of the outboard motor 3 relative to the steering angle α and the load applied to the steering handle 7 are determined in response to the boat's running conditions etc. Thereby, an operative characteristic along which easy steerage is assured in accordance with the operating conditions of the boat 1 can be obtained.
A speed of the boat 1 can be determined by at least one of the following manners:
-
- (a) Using a speed sensor: Such a speed sensor 14f can be, for example, a sensor measuring a rotational speed of an impeller, such as a paddle-wheel, fixed to the bottom of a boat to sense a speed relative to the water body, or a sensor using the GPS to sense a speed relative to the ground.
- (b) Using detected engine speed: Because the boat's speed has correlation with the engine speed, the boat's speed can be determined when the engine speed is obtained. Engine speed data are input into the control unit because the engine speed is useful for controlling some aspects of engine operation. Accordingly, by the use of the engine speed data, the boat's speed can be detected without an additional speed sensor 14f.
- (c) Using the detected throttle valve opening or a detected position of an accelerator lever: Because the speed of the boat 1 can be correlated with the throttle valve opening or the operational amount of the accelerator, the speed of the boat can be determined based on the throttle valve opening or the operational amount of the accelerator. Throttle valve opening data or the operational amount data of the accelerator can be input into the ECU 12 because the throttle valve opening or the operational amount of the accelerator can be used to control operation of the engine of the outboard motor 3. Accordingly, by the use of the throttle valve opening data or the operational amount data of the accelerator, the boat speed can be detected without the need for an additional speed sensor 14f.
- (d) Using detected thrust force (engine torque). For example, a torque sensor provided around the crankshaft can be configured to detect the engine torque. Because the boat speed can be correlated with the thrust force, the boat speed can be determined based on the thrust force.
- (e) Using an action of the boat such as a yaw rate, acceleration or the like: Because the boat speed can be correlated with an action of the boat, such as yaw rate, acceleration or the like, the boat speed can be determined based on the boat action.
Because the engine speed information discussed in the item (b) and the throttle valve opening information discussed in the item (c) are used for controlling the engine operation such as, for example, an ignition time control or a fuel injection control, those pieces of information are normally input into the ECU 12. By the use of the engine speed information and the throttle valve opening information for the control of the engine operation, the boat speed can be determined without requiring an additional sensor 14f.
With reference to
Both ends of the screw bar 19 can be fixed to the transom board (not shown in
A steering bracket 5 can be fixed to the swivel shaft 6 of the outboard motor 3 (
In such a structure, by sliding the electric motor 20 along the screw bar 19 in response to the steering amounts of the steering handle, the outboard motor can pivot about the axis of the swivel shaft 6, and thereby steer the boat 1.
With regard to the control routine of
With reference to
In Step S2, a load of the pivotal movement of the outboard motor 3 can be determined. For example, the output of the load sensor 17 (
With continued reference to
In Step S4, a running environment of the hull can be determined based upon the computed result of Step S3. The ECU 12 (
In Step S5, an operative characteristic can be determined based upon the running environment. The ECU 12 (
The running environment can be classified into three ranks of A, B and C in accordance with the result of the classifications of the fluctuation amounts and the frequencies. However, other classifications can also be used. Afterwards, modes of the operative characteristic can be set in accordance with the respective ranks.
For instance, when the fluctuation of the load is small and the frequency of the fluctuation is low, the running environment is ranked at A, and a set mode 1 is given to the running environment of the rank A. In the set mode 1, the load applied to the steering handle is light and an angle of the pivotal movement of the outboard motor is large relative to the steering angle. As such, the operator can operate the steering handle smoothly and lightly under the calm condition of the rank A.
When the fluctuation of the load is medium and the frequency thereof is medium, the running environment is ranked at B, and a set mode 2 is selected. Under this condition, the operator can operate the steering handle lightly, but the angle of the pivotal movement of the outboard motor relative to the steering angle is set to “medium” which provides smaller movements of the outboard motor 3 relative to the steering angle.
Finally, when the fluctuation of the load is large and the frequency thereof is high, the running environment is ranked at C, and a set mode 3 is selected. In the set mode 3, the load applied to the steering handle 7 is medium which corresponds to a greater load than that applied to the steering handle 7 in the light setting. Additionally, in set mode 3, the angle of the pivotal movement of the outboard motor 3 is also medium. Thereby, the excessive rotation of the steering handle 7 or the unintentional turn of the boat 1 due to the excessive rotation of the steering handle 7, i.e., due to the excessively large angle of the pivotal movement of the outboard motor 3 in rough weather can be avoided.
Such ranks of the running environment and varieties of the set modes are not limited to the example of
The routine of the Steps S1 through S5 discussed above can be repeated; thereby, the operator can steer the boat always in response to the various running environments.
FIGS. 7(A)-(D) include graphs (in solid line) illustrating exemplary but non-limiting effects provided under the settings of the operative characteristics discussed above. In the figures, chain double-dashed lines indicate running conditions resulting when the operative characteristics are not used in the controls.
-
- (A) As shown in
FIG. 7(A) , when the inclination, rolling or the like of the hull 16 is detected, in response to the magnitude thereof, the load applied to the steering handle 7 (e.g., providing a resistance to movement of the steering handle) is controlled to become heavier than a normal load. With the load of the steering handle becoming heavier, the operator is less likely to excessively turn the steering handle 7 beyond a desired position, even the operator moves to compensate for larger movements of the hull 16, for example, in larger, waves or stronger winds. As such, as indicated by the solid line ofFIG. 7(B) , the rotational movement of the steering handle 7 is likely to be smaller because it takes more force or effort to rotate the steering handle 7.
- (A) As shown in
Further, as shown in
Although these inventions have been disclosed in the context of certain preferred embodiments and examples, it will be understood by those skilled in the art that the present inventions extend beyond the specifically disclosed embodiments to other alternative embodiments and/or uses of the inventions and obvious modifications and equivalents thereof. In addition, while several variations of the inventions have been shown and described in detail, other modifications, which are within the scope of these inventions, will be readily apparent to those of skill in the art based upon this disclosure. It is also contemplated that various combination or sub-combinations of the specific features and aspects of the embodiments may be made and still fall within the scope of the inventions. It should be understood that various features and aspects of the disclosed embodiments can be combined with or substituted for one another in order to form varying modes of the disclosed inventions. Thus, it is intended that the scope of at least some of the present inventions herein disclosed should not be limited by the particular disclosed embodiments described above.
Claims
1. An action control device for a boat comprising a steering handle, a propulsion device, a running condition detecting means, a running environment determining means for determining a running environment based upon the running condition, and a steering control means for setting a steering handle operative characteristic in response to the running environment, wherein the running condition includes at least one of a vibration of the hull and a yaw rate of the hull, wherein the steering control means includes means for raising a reaction force applied to a steering handle and to increase a ratio of a steering movement of the steering handle and a steering movement of the propulsion device when a frequency and variations in environmental forces acting on the propulsion device indicate that the boat is being operated in more severe conditions.
2. The action control device for a boat according to claim 1, wherein the running condition additionally includes at least one of a position of the hull, a speed and a load of pivotal movement of the propulsion unit, and the running environment is determined based upon a variation of the running condition and a frequency of the variation.
3. An action control device for a boat comprising a running condition detecting means, a running environment determining means for determining a running environment based upon the running condition, a steering control means for setting a steering handle operative characteristic in response to the running environment, a propulsion unit mounted on a hull of the boat, a steering handle adapted to be operated by a human operator, a steering angle sensor for detecting a steering angle of the steering handle, a steering unit configured to pivot the propulsion unit relative to the hull in response to the steering angle, a load sensor configured to detect a load of the pivotal movement of the propulsion unit, a reaction force motor configured to apply a reaction force to the steering handle in response to the load of the pivotal movement of the propulsion unit, and a control unit configured to compute a pivotal movement angle of the propulsion unit by the steering unit based upon the steering angle of the steering handle and a pivotal movement characteristic of the propulsion unit, the control unit forming the running environment determining means and the steering control means.
4. The action control device for a boat according to claim 3, wherein the running environment is determined based upon the load of the pivotal movement of the propulsion unit.
5. The action control device for a boat according to claim 3, wherein, when the running environment is determined to be more severe, the reaction force applied to the steering handle is made heavier and a ratio of the pivotal movement angle of the propulsion unit is decreased relative to the steering angle.
6. An action control device for a boat comprising a steering handle configured to allow an operator of a boat to input steering commands, a propulsion device, a running environment detection device configured to determine a running environment of a boat, and a steering control device configured to adjust a steering handle operative characteristic in response to the running environment, wherein the running environment detection device is configured to detect a magnitude of a variation of a running condition of a boat, wherein the steering control device is configured to raise a reaction force applied to the steering handle and to increase a ratio of a steering movement of the steering handle and a steering movement of the propulsion device when a frequency and variations in environmental forces acting on the propulsion device indicate that the boat is being operated in more severe conditions.
7. An action control device for a boat comprising a steering handle configured to allow an operator of a boat to input steering commands, a running environment detection device configured to determine a running environment of a boat, and a steering control device configured to adjust a steering handle operative characteristic in response to the running environment, wherein the running environment detection device is configured to detect a magnitude and a frequency of variations of environmental forces acting on to a propulsion device of a boat, the steering control device being configured to change the steering handle operative characteristic if the magnitude and frequency exceed a predetermined threshold, wherein the steering handle operative characteristic is at least one of a reaction force applied to the steering handle and the ratio of a steering movement of the steering handle to a steering movement of the propulsion device wherein the steering control device is configured to raise a reaction force applied to the steering handle and to increase the ratio when frequency and variations in environmental forces acting on the propulsion device indicate that the boat is being operated in more severe conditions.
2215003 | September 1940 | Johnson |
2224357 | December 1940 | Pecker |
3084657 | April 1963 | Kiekhaefer |
3233691 | February 1966 | De Biasi |
3310021 | March 1967 | Shimanckas |
3349744 | October 1967 | Mercier et al. |
4120258 | October 17, 1978 | Spurgin |
4220111 | September 2, 1980 | Krautkremer et al. |
4373920 | February 15, 1983 | Hall et al. |
4500298 | February 19, 1985 | Hall et al. |
4519335 | May 28, 1985 | Krautkremer et al. |
4637802 | January 20, 1987 | Taguchi et al. |
4787867 | November 29, 1988 | Takeuchi et al. |
4872857 | October 10, 1989 | Newman et al. |
4908766 | March 13, 1990 | Takeuchi |
4909765 | March 20, 1990 | Riske et al. |
5029547 | July 9, 1991 | Novey |
5031562 | July 16, 1991 | Nakase et al. |
5231888 | August 3, 1993 | Katahira |
5235927 | August 17, 1993 | Singh et al. |
5244426 | September 14, 1993 | Miyashita et al. |
5253604 | October 19, 1993 | Bohlin |
5361024 | November 1, 1994 | Wisner et al. |
5370564 | December 6, 1994 | Fujimoto et al. |
5533935 | July 9, 1996 | Kast |
5800223 | September 1, 1998 | Iriono et al. |
5997370 | December 7, 1999 | Fetchko et al. |
6079513 | June 27, 2000 | Nishizaki et al. |
6230642 | May 15, 2001 | McKenney et al. |
6234853 | May 22, 2001 | Lanyi et al. |
6273771 | August 14, 2001 | Buckley et al. |
6402577 | June 11, 2002 | Treinen et al. |
6405669 | June 18, 2002 | Rheault et al. |
6471556 | October 29, 2002 | Yamashita et al. |
6511354 | January 28, 2003 | Gonring et al. |
6535806 | March 18, 2003 | Millsap et al. |
6561860 | May 13, 2003 | Colyvas |
6655490 | December 2, 2003 | Andonian et al. |
6671588 | December 30, 2003 | Otake et al. |
6678596 | January 13, 2004 | Husain et al. |
6843195 | January 18, 2005 | Watabe et al. |
6855014 | February 15, 2005 | Kinoshita et al. |
6892661 | May 17, 2005 | Kishi et al. |
6892662 | May 17, 2005 | Watanabe et al. |
6994046 | February 7, 2006 | Kaji et al. |
6997763 | February 14, 2006 | Kaji |
7004278 | February 28, 2006 | Sugitani et al. |
7063030 | June 20, 2006 | Mizutani |
20030077953 | April 24, 2003 | Kaji |
20030150366 | August 14, 2003 | Kaufmann et al. |
20030224670 | December 4, 2003 | Takada et al. |
20030224672 | December 4, 2003 | Takada et al. |
20040007644 | January 15, 2004 | Phelps et al. |
20040031429 | February 19, 2004 | Kaufmann et al. |
20040121665 | June 24, 2004 | Mizuguchi et al. |
20040139902 | July 22, 2004 | Takada et al. |
20040139903 | July 22, 2004 | Watabe et al. |
20050118894 | June 2, 2005 | Kawanishi |
20050121975 | June 9, 2005 | Gronau et al. |
20050170712 | August 4, 2005 | Okuyama |
20050170713 | August 4, 2005 | Okuyama |
20050199167 | September 15, 2005 | Mizutani |
20050199168 | September 15, 2005 | Mizutani |
20050199169 | September 15, 2005 | Mizutani |
20050215131 | September 29, 2005 | Oguma et al. |
20050282447 | December 22, 2005 | Okuyama |
20060019558 | January 26, 2006 | Mizutani et al. |
20060037522 | February 23, 2006 | Kaneko et al. |
20060180070 | August 17, 2006 | Mizutani |
20060217012 | September 28, 2006 | Mizutani |
20070066157 | March 22, 2007 | Yamashita et al. |
62-166193 | July 1987 | JP |
01-314695 | December 1989 | JP |
02-179597 | July 1990 | JP |
02-227395 | September 1990 | JP |
03-148395 | June 1991 | JP |
04-038297 | February 1992 | JP |
B-HEI 6-33077 | May 1994 | JP |
2739208 | January 1998 | JP |
10-226346 | August 1998 | JP |
A-HEI 10-310074 | November 1998 | JP |
2959044 | July 1999 | JP |
2000-313398 | November 2000 | JP |
2000-318691 | November 2000 | JP |
3232032 | September 2001 | JP |
A-2002-331948 | November 2002 | JP |
A-2004-155282 | June 2004 | JP |
2005-254848 | September 2005 | JP |
- Co-Pending U.S. Appl. No. 11/588,060, filed Oct. 25, 2006. Inventor: Mizutani. (submitted herewith) Title: Control Unit for Multiple Installation of Propulsion Units.
- Co-Pending U.S. Appl. No. 11/515,600, filed Sep. 5, 2006. Inventor: Mizutani. (submitted herewith) Title: Steering System for a Small Boat.
- Co-Pending U.S. Appl. No. 11/516,151, filed Sep. 5, 2006. Inventor: Mizutani. (submitted herewith) Title: Steering Method and Steering System for Boat.
- Co-Pending U.S. Appl. No. 11/593,393, filed Nov. 6, 2006. Inventor: Mizutani. (submitted herewith) Title: Electric Type Steering Device for Outboard Motors.
- Co-pending U.S. Appl. No. 11/942,179, filed Nov. 19, 2007. Title: Watercraft Steering Device and Watercraft.
- Co-pending U.S. Appl. No. 11/942,187, filed Nov. 19, 2007. Title: Watercraft Steering System, and Watercraft.
- Co-pending U.S. Appl. No. 11/942,159, filed Nov. 19, 2007. Title: Watercraft Steering Device and Watercraft.
Type: Grant
Filed: Aug 21, 2006
Date of Patent: Feb 24, 2009
Patent Publication Number: 20070049139
Assignee: Yamaha Marine Kabushiki Kaisha (Shizuoka)
Inventor: Makoto Mizutani (Shizuoka-ken)
Primary Examiner: Lars A Olson
Assistant Examiner: Daniel V Venne
Attorney: Knobbe, Martens, Olson & Bear, LLP
Application Number: 11/507,399
International Classification: B63H 5/20 (20060101); B63H 5/125 (20060101); B63H 20/08 (20060101); B63H 21/22 (20060101); B63H 23/00 (20060101); B63H 25/04 (20060101); B63H 25/10 (20060101); B60L 1/14 (20060101); G05D 1/02 (20060101);